Sistem Kendali Digital - Pertemuan II
15
SISTEM KENDALI DIGIT AL 19 September 2011 Catur Atmaji
Transcript of Sistem Kendali Digital - Pertemuan II
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SISTEM SIMPAL TERTUTUP
Fungsi Alih (Transfer Function)?
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SISTEM SIMPAL TERTUTUP
)().()( sGsU sY
)().()()( sF sY s RsU
)().(1
)(
)(
)()(
)()(.)(
)().(1
)()()].()(
1[
)().()()(
)(
)()].().()([)(
sF sG
sG
s R
sY sT
s RsY sG
sF sG
s RsY sF sG
sF sY s RsG
sY
sGsF sY s RsY
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CONTOH
)().().()().()( 513 sGsGs RsGsU sY
)().()().().()( 421 sGs RsGsGs RsU
)().()().()().().()(
)()( 5143321 sGsGsGsGsGsGsG
s R
sY sT
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RUMUS MASON
Grafik Aliran Sinyal -> Fungsi Alih
n
nnT T 1
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RUMUS MASON
54453
43342
32231
.
.
.
T T L
T T L
T T L
54453223544543343223
31321
...)...(1
).()(1
T T T T T T T T T T
L L L L L
5625122
56453423121
..
....
T T T T
T T T T T T
)...()...(1
1
544532235445433432232
1
T T T T T T T T T T
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RUMUS MASON
Fungsi Alih?
54453
43342
32231
.
.
.
T T L
T T L
T T L
54453223544543343223
31321
...)...(1
).()(1
T T T T T T T T T T
L L L L L
5625122
56453423121
..
....
T T T T
T T T T T T
)...()...(1
1
544532235445433432232
1
T T T T T T T T T T
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RUMUS MASON
n
nnT T 1
562512
54453223544543343223
5645342312
54453223544543343223
544532235445433432235625125645342312
..
)...()...(1
)....(
)...()...(1
)]...()...(1).[..(1).....(
T T T
T T T T T T T T T T
T T T T T T
T T T T T T T T T T
T T T T T T T T T T T T T T T T T T T
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RUANG KEADAAN (STATE SPACE)
Cara lain menyatakan sistem, selain FungsiAlih
Berbentuk Matriks
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RUANG KEADAAN
K s BsmsF
sY sT
t yK dt dy Bt f
dt t yd m
..
1
)(
)()(
)(.)()(
2
2
2
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RUANG KEADAAN
2
2
22
11
2
1
)()()(
)()()(
)(
)()(
dt
t yd
dt
t dxt x
t xdt
t dx
dt
t dyt x
t yt x
)(.)()(
1
)(
)(.)(1)(
122
2
2
t xm
K
t xm
B
t f mt x
t ym
K
dt
dy
m
Bt f
mdt
t yd
)()(
)(1
)()(.)(
)()(
1
212
21
t xt y
t f m
t xm
Bt x
m
K t x
t xt x
)()(01)(
)(.10
)(
)(10
)(
)(
2
1
2
1
2
1
t xt xt y
t f
mt x
t x
m
B
m
K t x
t x
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RUANG KEADAAN
Bentuk Umum
)(D.u)(C.x)(y
)(B.u)(A.x)(x
t t t
t t t
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MATUR NUWUN
